Retroreflective Multi-Axis Force Torque Sensor

ABSTRACT

The present application discloses implementations that relate to devices and techniques for sensing position, force, and torque. Devices described herein may include a light emitter, photodetectors, and a curved reflector. The light emitter may project light onto the curved reflector, which may reflect portions of that projected light onto one or more of the photodetectors. Based on the illuminances measured at the photodetectors, the position of the curved reflector may be determined. In some implementations, the curved reflector and the light emitter may be elastically coupled via one or more spring elements; in these implementations, a force vector representing a magnitude and direction of a force applied against the curved reflector may be determined based on the position of the curved reflector.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/187,445, filed Jun. 20, 2016, the entire contents of which are hereinincorporated by reference.

BACKGROUND

As technology advances, various types of robotic devices are beingcreated for performing a variety of functions that may assist users.Robotic devices may be used for applications involving materialhandling, transportation, welding, assembly, and dispensing, amongothers. Over time, the manner in which these robotic systems operate isbecoming more intelligent, efficient, and intuitive. As robotic systemsbecome increasingly prevalent in numerous aspects of modern life, it isdesirable for robotic systems to be efficient. Therefore, a demand forefficient robotic systems has helped open up a field of innovation inactuators, movement, sensing techniques, as well as component design andassembly.

SUMMARY

The present application discloses implementations that relate to devicesand techniques for sensing position, force, and torque. Devicesdescribed herein may include a light emitter, photodetectors, and acurved reflector. The light emitter may project light onto the curvedreflector, which may reflect portions of that projected light onto oneor more of the photodetectors. Based on the illuminances measured at thephotodetectors, the position of the curved reflector may be determined.In some implementations, the curved reflector and the light emitter maybe elastically coupled via one or more spring elements; in theseimplementations, a force vector representing a magnitude and directionof a force applied against the curved reflector may be determined basedon the position of the curved reflector.

In another example, the present application describes a device. Thedevice includes a rigid structure, a curved reflector, three or morephotodetectors, a light emitter, and at least one processor. The curvedreflector is fixed to a surface of the rigid structure. The three ormore photodetectors are each operable to measure an illuminance of lightincident on the photodetector. The light emitter is operable to projectlight toward the curved reflector. The curved reflector reflectsrespective portions of the projected light onto the three or morephotodetectors. The light emitter and the three or more photodetectorsare fixed with respect to each other. The rigid structure is movable inone or more degrees of freedom with respect to the light emitter and thethree or more photodetectors. The at least one processor configured toperform a set of operations. The operations include measuring, by eachphotodetector of the three or more photodetectors, an illuminance of therespective portion of projected light incident on the photodetector. Theoperations also include determining, based on the measured illuminances,a displacement of the rigid body in one or more degrees of freedom withrespect to a reference position of the rigid body. The operationsfurther include providing an output signal indicative of thedisplacement.

In another example, the present application describes a device. Thedevice includes a first rigid structure, a curved reflector, a secondrigid structure, a spring element, three or more photodetectors, a lightemitter, and at least one processor. The curved reflector is fixed to asurface of the first rigid structure. The first rigid structure ismovable in one or more degrees of freedom with respect to the secondrigid structure. The first rigid structure is displaced from a referenceposition when a force is applied against the first rigid structure. Thespring element elastically couples the first rigid structure to thesecond rigid structure. The three or more photodetectors are eachoperable to measure an illuminance of light incident on thephotodetector. The three or more photodetectors are fixed to a surfaceof the second rigid structure. The light emitter operable to projectlight toward the curved reflector. The curved reflector reflectsrespective portions of the projected light onto the three or morephotodetectors, wherein the light emitter is fixed to the surface of thesecond rigid structure. The at least one processor configured to performa set of operations. The operations include measuring, by eachphotodetector of the three or more photodetectors, an illuminance of therespective portion of projected light incident on the photodetector. Theoperations also include determining, based on the measured illuminances,a force vector indicative of a magnitude of the force and a direction ofthe force in one or more degrees of freedom. The operations furtherinclude providing an output signal indicative of the force vector.

In a further example, the present application describes a method. Themethod involves causing a light emitter to project light toward a curvedreflector fixed to a surface of the rigid structure. The method alsoinvolves measuring, by three or more photodetectors, three or moreilluminances of light incident on the respective three or morephotodetectors. Each illuminance represents an intensity of a portion ofthe projected light that reflects off the curved reflector and isincident on a respective photodetector. The method further involvesdetermining, based on the three or more illuminances, a displacementthat represents a change in position of the curved reflector from areference position in one or more degrees of freedom. Additionally, themethod involves providing an output indicative of the displacement.

In yet another example, the present application describes a system. Thesystem includes a means for causing a light emitter to project lighttoward a curved reflector fixed to a surface of the rigid structure. Thesystem also includes a means for measuring, by three or morephotodetectors, three or more illuminances of light incident on therespective three or more photodetectors. Each illuminance represents anintensity of a portion of the projected light that reflects off thecurved reflector and is incident on a respective photodetector. Thesystem further includes a means for determining, based on the three ormore illuminances, a displacement that represents a change in positionof the curved reflector from a reference position in one or more degreesof freedom. Additionally, the system includes a means for providing anoutput indicative of the displacement.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the figures and the followingdetailed description and the accompanying drawings.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 illustrates an example configuration of a robotic system,according to an example implementation.

FIG. 2 illustrates an example robotic arm, according to an exampleimplementation.

FIG. 3 illustrates an example robotic arm with a force and torquesensor, according to an example implementation.

FIG. 4A illustrates a side view of a force sensor at rest, according toan example implementation.

FIG. 4B illustrates a top-down view of a force sensor at rest, accordingto an example implementation.

FIG. 4C illustrates a perspective view of a force sensor at rest,according to an example implementation.

FIG. 5A illustrates a side view of a force sensor subjected to adownward force, according to an example implementation.

FIG. 5B illustrates a top-down view of a force sensor subjected to adownward force, according to an example implementation.

FIG. 5C illustrates a perspective view of a force sensor subjected to adownward force, according to an example implementation.

FIG. 6A illustrates a side view of a force sensor subjected to a lateralforce, according to an example implementation.

FIG. 6B illustrates a top-down view of a force sensor subjected to alateral force, according to an example implementation.

FIG. 6C illustrates a perspective view of a force sensor subjected to alateral force, according to an example implementation.

FIG. 7A illustrates a side view of a force and torque sensor at rest,according to an example implementation.

FIG. 7B illustrates a top-down view of a force and torque sensor atrest, according to an example implementation.

FIG. 7C illustrates a perspective view of a force and torque sensor atrest, according to an example implementation.

FIG. 8A illustrates a side view of force and torque sensor subjected toa downward force, according to an example implementation.

FIG. 8B illustrates a top-down view of a force and torque sensorsubjected to a downward force, according to an example implementation.

FIG. 8C illustrates a perspective view of a force and torque sensorsubjected to a downward force, according to an example implementation.

FIG. 9A illustrates a side view of a force and torque sensor subjectedto a downward force, according to an example implementation.

FIG. 9B illustrates a top-down view of a force and torque sensorsubjected to a downward force, according to an example implementation.

FIG. 9C illustrates a perspective view of a force and torque sensorsubjected to a downward force, according to an example implementation.

FIG. 10A illustrates a side view of a force and torque sensor subjectedto a torque, according to an example implementation.

FIG. 10B illustrates a top-down view of a force and torque sensorsubjected to a torque, according to an example implementation.

FIG. 10C illustrates a perspective view of a force and torque sensorsubjected to a torque, according to an example implementation.

FIG. 11A illustrates a flow chart, according to an exampleimplementation.

FIG. 11B illustrates a flow chart, according to an exampleimplementation.

FIG. 12 is a block diagram of an example computer-readable mediumaccording to an example embodiment.

DETAILED DESCRIPTION

The following detailed description describes various features andoperations of the disclosed systems and methods with reference to theaccompanying figures. The illustrative system and method embodimentsdescribed herein are not meant to be limiting. It may be readilyunderstood that certain aspects of the disclosed systems and methods canbe arranged and combined in a wide variety of different configurations,all of which are contemplated herein.

I. Overview

The present application discloses implementations that relate to devicesand techniques for measuring position, force, and/or torque. One type offorce and torque sensor may project light onto a reflective innersurface of a viscoelastic dome, which may deform when subjected to anexternal force. The deformation of the viscoelastic dome may alter thereflection pattern of light projected onto the reflective inner surface.By sensing characteristics of this deformity, the sensor may estimatethe force applied against the viscoelastic dome. However, the accuracyof such deformity-based force sensing relies upon the performance of theviscoelastic material that undergoes stresses caused by the applicationof a force against that surface.

Viscoelastic materials are susceptible to hysteresis and creep. Thus, atime delay may exist between the application of force against theviscoelastic material and the resulting deformation caused by thatforce. Additionally, viscoelastic materials may permanently deform overtime, causing deformation-based force sensors to become increasinglyinaccurate as they are used.

Implementations disclosed herein involve force and torque sensing basedon translation of a reflective surface, rather than on viscoelasticdeformation. In some instances, the reflective surface may be coupled toan elastic or spring element (e.g., a non-viscoelastic flexure) thatremoves or significantly allays the hysteresis and creep limitations ofviscoelastic materials. Translation-based force and torque sensors withnon-viscoelastic flexures may allow for more rapid force sensing and maybetter maintain reliability and accuracy through continued use.

An example sensing device includes a light emitter, a curved reflector,and three or more photodetectors. The light emitter may project lighttoward the curved reflector, which may then reflect a portion of thatreflected light toward the three or more photodetectors. Eachphotodetector may measure the illuminance of incident light on thatphotodetector. Based on the measured illuminances, the position of thecurved reflector and/or the vector of a force applied against the curvedreflector may be determined.

As described herein, “illuminance” may refer to a total luminous fluxincident on a surface. A photodetector may include a photosensitiveregion, which converts the illuminance of light incident on thatphotosensitive region into a proportionate current, voltage,capacitance, or charge. A light emitter—such as a light-emitting diode,a laser, or other light source—may emit a total amount of illuminance,which may be referred to the “illuminance exitance.” An amount of theilluminance exitance may be directed toward and incident on the curvedreflector. The curved reflector may reflect portions of that incidentlight toward the photosensitive regions of one or more photodetectors.

The illuminance measured by each photodetector depends upon the locationof the curved reflector. As the curved reflector moves relative to thelight emitter, the distribution of light (also referred to herein as the“illuminance distribution”) reflected back toward the photodetectorschanges. The photodetectors may capture illuminance values at multiplelocations relative to the light emitter, from which the illuminancedistribution may be inferred or estimated.

The curved reflector may be mounted on or otherwise coupled to a surfaceof a movable structure, such as a platform, board, plate, or otherobject. When a force is exerted against the movable structure, it maytranslate in one or more degrees of freedom, causing the curvedreflector to displace from a rest position. This translation may changethe illuminance distribution measured by the photodetectors. Based onthis illuminance distribution (and/or change in illuminancedistribution), the position of the curved reflector may be determined.In some instances, a force vector—representing the magnitude anddirection of the force applied against the movable structure—may bedetermined based on the position of the curved reflector. The movablestructure may be composed of a non-viscoelastic material, and may alsobe referred to herein as a “rigid structure,” and may be composed of anon-viscoelastic material. An inelastic material may be anymaterial—such as plastics, metals, and other non-viscoelasticmaterials—that is rigid and generally retains its shape when subjectedto external forces (at least within a range of force magnitudes below athreshold amount of force).

In some implementations a “curved” reflector may be a multifacetedreflective object, whose facets collectively form a convex or concavegeometry. As one example, a curved reflector may be similar to a portionof a disco ball, where the facets roughly form the shape of a sphere.Other polygonal geometries may also be used to reflect and distributelight in a similar manner as a spherical, ovoid, globate, or globulargeometry. It should be understood that the geometry may vary amongimplementations and/or due to manufacturing limitations.

Some sensing devices may include one or more spring elements (e.g., aflexure) coupled to the movable structure. In these implementations, therest position of the curved reflector (which may also be referred toherein as a “reference position”) may be the position of the curvedreflector when the spring elements are at equilibrium. When a force isapplied against the movable structure, the spring elements may expandand/or contract proportionate to the magnitude and direction of thatforce. Thus, the extent to which the curved reflector is moved maycorrespond to a direction and magnitude of force, based on properties ofthe spring elements and the particular arrangement of the light emitter,photodetectors, and curved reflector.

In some implementations, a model may correlate illuminance distributionswith displacement vectors of the curved reflector. The model mayincorporate the dimensions and arrangement of the light emitter,photodetectors, curved reflector, and movable surface. The model mayalso include information about spring elements coupled to the movablesurface (e.g., the spring constants of those elements). Such a model mayenable a computing device to calculate or estimate the position of thecurved reflector based on the measured illuminances at thephotodetectors. The model may also permit a computing device todetermine the vector of the force applied against the movable structurebased on the estimated position of the curved reflector and the knownproperties of the spring elements.

In some implementations, a sensing device such as those described hereinmay undergo a series of controlled tests in order to model the behaviorof that particular sensing device. These tests may be referred to hereinas “calibration.” During calibration, a particular sensing device may besubjected to a known force (with a known direction and known magnitude),and the illuminance values measured by the photodetectors may berecorded. This step of correlating sets of illuminance values with knownforces may be repeated for known forces of various magnitudes anddirections.

Such a calibration process may produce calibration data, which may serveas a basis for determining the position of the curved reflector, thevector of a force applied against the movable structure, and/or thevector of a torque applied against the movable structure. For example, acomputing device may employ a linear regression (or other types ofregression) analysis in order to approximate or estimate the forcevector based on measured illuminance values and the calibration dataset. As another example, the calibration data may be used to generatetransformation matrices that allow a computing device to determine forceand/or torque vectors based on displacement vectors of the curvedreflector.

In some implementations, a regression analysis (e.g., using a leastsquares approach) involves determining a transformation matrix based onthe calibration data. A transformation matrix may be used to convertilluminance values into position or displacement values, force values,or torque values. Once the transformation matrix or matrices have beendetermined, they may be stored in memory and used during the sensor'soperation; in other words, determining position, force, and/or torqueduring operation may involve applying one or more predeterminedtransformation matrices.

Determining transformation matrices using linear regression is oneexample technique for modeling the force and torque sensor. In otherembodiments, statistical models, machine learning tools, neuralnetworks, and other non-linear models may be used to model therelationship between illuminance values (e.g., based on photodetectorvoltages) and force or torque values in a force and torque sensor. Datacollected during calibration may be used to train such machine learningmodels. For example, calibration may involve capturing illuminancevalues and labeling them with known force or torque values. The labeledilluminance values may be provided to a machine learning tool to developa model of the force and torque sensor. Once determined, the model maybe stored and used during the operation of the sensor to estimate thevalues of the force and/or torque applied against the sensor.

Sensing devices described herein may include computing devices withprocessors and memory devices. The memory devices may store thereinmodels and/or calibration data, along with program instructions andother information. The processors may receive illuminance measurementsfrom the photodetectors and apply them to models and/or othercomputational or mathematical processes based on the calibration data inorder to determine or estimate the vector of a force applied against themovable surface.

In some implementations, a sensing device may include multiple curvedreflectors coupled to the movable structure, multiple light emitters,and multiple clusters of photodetectors. At rest (e.g., when the movablestructure is not subjected to a force), each curved reflector maycorrespond to a respective light emitter and a respective cluster ofphotodetectors. However, when the movable structure is subjected to aforce, the movable structure may translate in one or more spatialdimensions (e.g., along an x-, y-, and z-axis), and may also rotate inone or more angular dimensions (e.g., roll, pitch, and yaw). If themovable structure translates, but does not rotate, the relative positionof each curved reflector with respect to its respective light emittermay be the same for each curved reflector. However, if the movablestructure rotates (e.g., rolls, pitches, and/or yaws), the relativeposition of each curved reflector with respect to its respective lightemitter may be different for each curved reflector. Thus, angulardisplacements of the movable structure may produce different illuminancedistributions for each cluster of photodetectors.

In such implementations, a set of illuminance distributions (e.g., adistribution for each cluster of photodetectors) may correspond to atorque vector, representing the magnitude and direction of a torqueresulting from force(s) applied against the movable structure. Forexample, if a downwards force is applied at an edge of the movablestructure, the movable structure may roll or pitch. If a lateral force(or a force with a lateral component) is applied to the movablestructure, the movable structure may yaw. A model—either based on theknown configuration of the sensing device or based on calibrationdata—may correlate sets of illuminance distributions (or sets ofilluminance measurements) with torque vectors. A calibration process forsensing devices with multiple curved reflectors, light emitters, andclusters of photodetectors may subject the sensing device to knowntorques and capture the illuminance measurements from the clusters ofphotodetectors. In this implementations, a sensing device may measureforce and/or torque in six degrees of freedom (DOFs).

The force and torque sensing devices described herein may be used in avariety of applications. For example, they may be incorporated within arobotic finger or other robotic appendage to improve its dexterity andsensory capabilities. A robot may be controlled or instructed to performa delicate task that requires it to use its fingers to grip an object.High accuracy and rapid-sensing force and torque sensors of the presentapplication may be used to enable a robot to detect gripping forcesaccurately and permit the robot to respond quickly to changes in thosegripping forces. Using this information, the robot may be able toperform precise maneuvers to accomplish a desired task.

II. Example Robotic Systems

FIG. 1 illustrates an example configuration of a robotic system that maybe used in connection with the implementations described herein. Therobotic system 100 may be a robotic arm, a different type of roboticmanipulator, or it may have a number of different forms. Additionally,the robotic system 100 may also be referred to as a robotic device,robotic manipulator, or robot, among others.

The robotic system 100 is shown to include processor(s) 102, datastorage 104, program instructions 106, controller 108, sensor(s) 110,power source(s) 112, actuator(s) 114, and movable component(s) 116. Notethat the robotic system 100 is shown for illustration purposes only asrobotic system 100 may include additional components and/or have one ormore components removed without departing from the scope of theinvention. Further, note that the various components of robotic system100 may be connected in any manner.

Processor(s) 102 may be a general-purpose processor or a special purposeprocessor (e.g., digital signal processors, application specificintegrated circuits, etc.). The processor(s) 102 can be configured toexecute computer-readable program instructions 106 that are stored inthe data storage 104 and are executable to provide the functionality ofthe robotic system 100 described herein. For instance, the programinstructions 106 may be executable to provide functionality ofcontroller 108, where the controller 108 may be configured to instructan actuator 114 to cause movement of one or more movable component(s)116.

The data storage 104 may include or take the form of one or morecomputer-readable storage media that can be read or accessed byprocessor(s) 102. The one or more computer-readable storage media caninclude volatile and/or non-volatile storage components, such asoptical, magnetic, organic or other memory or disc storage, which can beintegrated in whole or in part with processor(s) 102. In someembodiments, the data storage 104 can be implemented using a singlephysical device (e.g., one optical, magnetic, organic or other memory ordisc storage unit), while in other embodiments, the data storage 104 canbe implemented using two or more physical devices. Further, in additionto the computer-readable program instructions 106, the data storage 104may include additional data such as diagnostic data, among otherpossibilities.

The robotic system 100 may include one or more sensor(s) 110 such asforce sensors, proximity sensors, motion sensors, load sensors, positionsensors, touch sensors, depth sensors, ultrasonic range sensors, andinfrared sensors, among other possibilities. The sensor(s) 110 mayprovide sensor data to the processor(s) 102 to allow for appropriateinteraction of the robotic system 100 with the environment.Additionally, the sensor data may be used in evaluation of variousfactors for providing feedback as further discussed below. Further, therobotic system 100 may also include one or more power source(s) 112configured to supply power to various components of the robotic system100. Any type of power source may be used such as, for example, agasoline engine or a battery.

The robotic system 100 may also include one or more actuator(s) 114. Anactuator is a mechanism that may be used to introduce mechanical motion.In particular, an actuator may be configured to convert stored energyinto movement of one or more components. Various mechanisms may be usedto power an actuator. For instance, actuators may be powered bychemicals, compressed air, or electricity, among other possibilities. Insome cases, an actuator may be a rotary actuator that may be used insystems involving rotational forms of motion (e.g., a joint in therobotic system 100). In other cases, an actuator may be a linearactuator that may be used in systems involving straight line motion.

In either case, actuator(s) 114 may cause movement of various movablecomponent(s) 116 of the robotic system 100. The moveable component(s)116 may include appendages such as robotic arms, legs, and/or hands,among others. The moveable component(s) 116 may also include a movablebase, wheels, and/or end effectors, among others.

In some implementations, a computing system (not shown) may be coupledto the robotic system 100 and may be configured to receive input from auser, such as via a graphical user interface. This computing system maybe incorporated within the robotic system 100 or may be an externalcomputing system that is capable of (wired or wireless) communicationwith the robotic system 100. As such, the robotic system 100 may receiveinformation and instructions, such as based on user-input at thegraphical user interface and/or based on user-input received via pressof buttons (or tactile input) on the robotic system 100, among otherpossibilities.

A robotic system 100 may take on various forms. To illustrate, FIG. 2shows an example robotic arm 200. As shown, the robotic arm 200 includesa base 202, which may be a stationary base or may be a movable base. Inthe case of a movable base, the base 202 may be considered as one of themovable component(s) 116 and may include wheels (not shown), powered byone or more of the actuator(s) 114, which allow for mobility of theentire robotic arm 200.

Additionally, the robotic arm 200 includes joints 204A-204F each coupledto one or more of the actuator(s) 114. The actuators in joints 204A-204Fmay operate to cause movement of various movable component(s) 116 suchas appendages 206A-206F and/or end effector 208. For example, theactuator in joint 204F may cause movement of appendage 206F and endeffector 208 (i.e., since end effector 208 is coupled to appendage206F). Further, end effector 208 may take on various forms and mayinclude various parts. In one example, end effector 208 may take theform of a gripper such as a finger gripper as shown here or a differenttype of gripper such as a suction gripper. In another example, endeffector 208 may take the form of a tool such as a drill or a brush. Inyet another example, the end effector may include sensors such as forcesensors, location sensors, and/or proximity sensors. Other examples mayalso be possible.

In an example implementation, a robotic system 100, such as robotic arm200, may be capable of operating in a teach mode. In particular, teachmode may be an operating mode of the robotic arm 200 that allows a userto physically interact with and guide the robotic arm 200 towardscarrying out and recording various movements. In a teaching mode, anexternal force is applied (e.g., by the user) to the robotic system 100based on a teaching input that is intended to teach the robotic systemregarding how to carry out a specific task. The robotic arm 200 may thusobtain data regarding how to carry out the specific task based oninstructions and guidance from the user. Such data may relate to aplurality of configurations of the movable component(s) 116, jointposition data, velocity data, acceleration data, torque data, forcedata, and power data, among other possibilities.

For example, during teach mode the user may grasp onto any part of therobotic arm 200 and provide an external force by physically moving therobotic arm 200. In particular, the user may guide the robotic arm 200towards grasping onto an object and then moving the object from a firstlocation to a second location. As the user guides the robotic arm 200during teach mode, the system may obtain and record data related to themovement such that the robotic arm 200 may be configured toindependently carry out the task at a future time during independentoperation (e.g., when the robotic arm 200 operates independently outsideof teach mode). Note, however, that external forces may also be appliedby other entities in the physical workspace such as by other objects,machines, and/or robotic systems, among other possibilities.

FIG. 3 illustrates an example robotic arm 300 with an end effector 320.The end effector may include elements of a force and torque sensor asdescribed herein, including a movable structure, curved reflectors,light emitters, photodetectors, and/or any other components describedherein. The end effector 320 may include a gripping platform that servesas a base against which an object is gripped.

Some robotic arms may include one or more force and torque sensors,which may be embedded within robotic fingers or gripping platforms.During operation, the robotic arm 300 may position an object between twoor more robotic fingers and/or gripping platforms with embedded forceand torque sensors. The robotic arm 300 may move the robotic fingersand/or gripping platforms together to grip the object. The object may bepressed against the force and torque sensors, which may measure theamount of force and the direction of that force cause by gripping theobject. The measured force vectors may be provided to control systems,which may cause the robotic arm 300 to adjust the grip or otherwisealter its operation.

Some robotic appendages or manipulators may include a wrist situatedbetween an arm and a gripper. Force and torque sensors of the presentapplication may be integrated within the wrist, such that forces andtorques applied against the gripper are measured by the sensor. In otherwords, the force and torque sensor may be placed at a coupling between agripping platform and the robotic arm. Other arrangements are alsopossible.

Note that the shape, size, and relative positioning of robotic fingers,gripping platforms, and force and torque sensors may differ, dependingupon the particular implementation. The robotic arm 300 illustrates oneexample configuration of a robotic arm that includes a tactile sensor.

III. Example Force Sensors

The following illustrations depict three different views of sensingdevices. The example sensing devices include light emitter(s) andphotodetectors that are approximately coplanar in an x-y plane andmounted to a base structure. The example sensing device also include amovable structure and curved reflector(s) mounted on a surface of thatmovable structure facing the light emitter(s) and photodetectors alongthe z-axis. The movable structure and base structure are approximatelyparallel at rest.

During operation, the light emitter may project light in the z-directiontoward the curved reflector. The emitted light may have an angle ofillumination, which causes the projected light to spread as it travelsin the z-direction. Some or all of that emitted light may be incident onthe curved reflector, which may reflect some or all of that light backtoward the photodetectors. Portions of the reflected light may land onthe photodetectors (or the photosensitive regions of thephotodetectors), while other portions of that reflected light may landon the non-photosensitive regions of the photodetector, the lightemitter, the base structure, the movable structure, or another componentor area. Thus, a percentage of the total luminous flux (the luminanceexitance) emitted by the light emitter may be incident on thephotodetectors (the illuminance at the photodetector's photosensitiveregion)

As the movable structure translates and/or rotates, the position (in thex-, y-, and/or z-direction) and orientation of the curved reflectorchanges with respect to the rest position (e.g., a reference location ofthe curved reflector when the movable structure is under no externalstresses). This translation and/or rotation of the curved reflectors mayvary the illuminance measured by each of the photodetectors. FIGS.4A-4C, 5A-5C, and 6A-6C illustrate examples changes in illuminancedistribution caused by moving the curved reflector.

The top-down views illustrated in FIGS. 4A, 5A, and 6A depictdotted-lined circles and bold-lined circles. The dotted-lined circlesrepresent the “footprint” of the curved reflector when it is at areference position. The bold-lined circles represent the footprint ofthe curved reflector when it is at the changed position. A largerbold-lined circle (with respect to the size of the dotted-lined circle)represents the curved reflector moving closer to the photodetectors inthe z-direction, while a smaller bold-lined circle represents the curvedreflector moving away from the from the photodetectors in thez-direction.

The side views and perspective views illustrated in the FIGS. 4B-4C,5B-5C, and 6B-6C represent the positions of objects (e.g., the movablestructure) at a reference or rest position. Bold arrows at or near themovable structure represent a vector of the net force applied againstthe movable structure. It should be noted that the vector of the netforce may represent a combination of two or more separate forces thatcombine to form the net force vector. Additionally, the force vector mayrepresent a force experienced by a separate object in contact with themovable structure, such that the force experienced by that object istransferred to the movable structure.

Some of the depicted sensing devices illustrate spring elements thatelastically couple the movable structure directly to the base structure.This direct coupling is shown for illustrative purposes only; the springelements may be coupled to other structures not depicted in the figures.Additionally, the spring elements may not be separate elements, butrather might be a single spring element, such as a flexure.

Additionally, the figures depict the force sensor having rectangularmovable structures and base structures. However, structures upon whichcurved reflectors, light emitters, and/or photodetectors are mounted maytake on a variety of shapes and geometries without departing from thescope of the present application.

It should be understood that the following illustrations are conceptualdrawings to aid in describing example implementations of the presentapplication. Other configurations, arrangements, dimensions, andcombination of components other than those explicitly shown in thefigures may be used to implement force and torque sensors of the presentapplication. The drawings are provided for explanatory purposes and mayor may not be drawn to scale.

A. Sensor At Rest

FIG. 4A illustrates a side view 400 of a force sensor at rest, FIG. 4Billustrates a top-down view 450 of a force sensor at rest, and FIG. 4Cillustrates a perspective view 460 of a force sensor at rest. Asdescribed herein, “at rest” refers to the force sensor that is notundergoing any external stresses, such that the movable structure 410(and the curved reflector 412) is at an equilibrium position.

The force sensor includes a movable structure 410 and a base structure420 arranged approximately parallel to each other. A curved reflector412 is fixed to a surface of the movable structure 410 that is facingthe base structure 420. The base structure 420 includes a light emitter422 that is approximately aligned with the curved reflector 412 in thez-direction, such that the curved reflector overlaps the light emitterwhen viewed from a top-down perspective. The base structure 420 alsoincludes photodetectors 424A, 424B, 424C, and 424D adjacent to the lightemitter 422. During operation, the light emitter 422 projects light inthe positive z-direction toward the curved reflector, which reflectsthat projected light (or at least a portion of that reflected light)toward the photodetectors 424A-D with an illuminance distribution 426.The force sensor also includes a spring element 430 that elasticallycouples the movable structure 410 and the base structure 420. At rest,there is a z-direction displacement 440 between the movable structure410 and the base structure 420.

The movable structure 410 may be any rigid object (e.g., composed of anon-viscoelastic material). The movable structure 410 may be composed ofa variety of rigid materials, including metals or plastics. In someimplementations, the movable structure 410 may be composed of two ormore separate components. The surface of the movable structure 410facing away from the base structure 420 may be exposed to theenvironment, and may act as an interface for interacting with objectsand/or for being subjected to forces. The movable structure 410 orsurfaces of the movable structure 410 may be non-reflective or otherwisehave a low level of reflectance, such that it absorbs most of the lightincident on its surface. Such non-reflective materials or coating may beused to prevent or reduce the amount of light incident on thephotodetectors that are not direct reflections off the curved reflector412.

The curved reflector 412 may be any object with a non-planar surfacethat is either composed of a reflective material or is otherwise coatedwith a reflective substance. For example, the curved reflector may be acurved piece of reflective metal. As another example the curvedreflector may be a curved piece of plastic coated with a reflectivepaint or pigment. Note that the curved reflector may have any level ofreflectance (the percentage of incident light reflected by the curvedreflector). In some implementations, the curved reflector 412 may be aseparate object from the movable structure and affixed to the movablestructure 410 using a fastener, adhesive, or other securing means. Inother implementations, the curved reflector 412 may be a protrusion orindentation of the movable structure 410, such that the movablestructure 410 and the curved reflector 412 are made from a single pieceof material. The curved reflector 412 may be convex, concave, or somecombination thereof (e.g., a dimpled surface).

The base structure 420 may be any rigid object with a surface on whichthe light emitter 422 and the photodetectors 424A-D are mounted orfixed. In some implementations, the base structure 420 may be a printedcircuit board (PCB) that provides for conductive coupling among variouscomponents, such as the light emitter 422, the photodetectors 424A-D,power sources, ground, integrated circuits, processors, controllers,and/or other possible components. The base structure may also becomposed of or coated with a non-reflective substance, so as to preventor reduce the amount of light incident on the photodetectors that arenot direct reflections off the curved reflector 412.

The light emitter 422 may be any light source that projects light towardthe curved reflector. In some implementations, the light emitter 422 isa light emitting diode (LED) operable to emit light of a particularwavelength (or within a narrow band of wavelengths) and with aparticular angle of illumination. The light emitter 422 may emit lighthaving a brightness (specifically, an illuminance exitance)proportionate to an amount of voltage and/or current supplied to thelight emitter 422. The wavelength(s) of light emitted by the lightemitter 422 may correspond to the wavelength(s) of light for which thephotodetectors 424A-D are sensitive. For example, the light emitter 422may emit light within a particular band of infrared light, and thephotodetectors 424A-D may be operable to measure the illuminance oflight within that same (or approximately the same) band of infraredlight. The illuminance exitance of the light emitter 422 may decreaseover time as the light emitter 422 ages.

The photodetectors 424A-D may be any kind of optical sensor capable ofconverting light incident on a photosensitive region into voltage,current, capacitance, or charge. In some implementations, thephotodetectors 424A-D may be photodiodes or phototransistors thatproduces a current with a magnitude proportionate to the illuminance oflight incident on the photodetector. The photodetectors 424A-D mayinclude optical filters to attenuate or block out light outside of acertain band of wavelengths. The photodetectors 424A-D may also includeother components, such as lenses and mechanical support structures. Thephotodetectors 424A-D may be arranged in a “+” pattern, such thatphotodetectors 424A and 424B form an axis (in the figures, the y-axis)and photodetectors 424C and 424D form another axis (in the figures, thex-axis). When arranged in this manner, the photodetectors 424A-D measureilluminance values in positive and negative x- and y-directions.

Note that, in some implementations, three photodetectors may be used todetermine the x- and y-position of the curved reflector, withoutrequiring the fourth photodetector (as long as the three photodetectorsare not collinear). As one example, three photodetectors may be arrangedin a triangular shape, with the light emitter 422 placed within the areadefined by the three photodetectors. Although the examples illustratedherein depict four photodetectors surrounding a light emitter, it shouldbe understood that three photodetectors are sufficient for determiningthe position of the curved reflector in three degrees of freedom (e.g.,the x-axis, y-axis, and z-axis).

At rest, the illuminance distribution 426 is such that thephotodetectors 424A-D each are fully illuminated by respective portionsof light reflected off the curved reflector 412. This is illustrated asdotted-lined arrows that extend across the entirety of thephotodetectors 424A and 424B in FIG. 4A. This representation ofilluminance is provided for illustrative purposes; a fully-illuminatedarea may not necessarily correspond to a particular illuminance level.It should be understood that the illuminance distribution may beaffected by a variety of factors, including angular extent ofillumination provided by the light emitter 422, the total illuminanceexitance of the light emitter 422, the reflectance of the curvedreflector 412, the geometry of the curved reflector 412, and theposition of the curved reflector 412, among other possible factors.

The spring element 430 may be any elastic object that is at leastcoupled to the movable structure 410. The spring element 430 mayelastically couple the movable structure 410 with the base structure420, or may elastically couple the movable structure 410 to anotherfixed structure not explicitly illustrated in the figures. For example,the base structure 420 may be rigidly fixed to a housing, and themovable structure 410 may be elastically coupled to the housing via thespring element 430. The spring element 430 may be any object that canelastically expand and/or contract, such as a flexure. A flexure may,for example, be a semi-rigid material with pleated layers that behavessimilarly to a spring (or a damped spring).

B. Sensor Subjected to a Downward Force

FIGS. 5A, 5B, and 5C illustrate a side view 500, top-down view 550, anda perspective view 560 of a force sensor subjected to a downward force,respectively. In this example, “downwards” refers to a net force in thenegative-z direction. For the following example, the net force isapplied at the center of the movable structure 510, such that movablestructure 510 translates in the negative z-direction without rotating.

In this example, a force having a net force vector 502 is appliedagainst the movable structure 510, causing it to translate from its restposition 410 (as illustrated by the dotted lined rectangle). This forcecauses the spring element 430 to compress from its rest length 440 to acompressed length 540. As a result, the z-directional distance betweenthe curved reflector 412 and the light emitter 422 is decreased.

By reducing the z-directional distance between the curved reflector 512and the light emitter 422, the illuminance distribution changes fromdistribution 426 to distribution 526. As a result, the portion of lightreflected off the curved reflector 412 and incident on the photodiodes424A and 424B only land on a section of the photodetector. Thus, themeasured illuminances at photodetectors 424A and 424B may differ fromthe measured illuminances of distribution 426. The remaining portion oflight reflected off the curved reflector 412 may be incident on (andpartially or fully absorbed by) the base structure 420 and/or the lightemitter 422. Note that, although not depicted, the illuminances atphotodetectors 424C and 424D may be affected similarly to photodetectors424A and 424B.

Based on the measured illuminance values by the photodetectors 424A-D,the position of the curved reflector 412 (or movable structure 410,since they are rigidly coupled) relative to a reference position (e.g.,the rest position of the curved reflector 412) may be determined. Thischange in position from the reference position to the translatedposition may be represented as a displacement vector, which includes adirection of displacement and a magnitude (distance) of displacement.

Determining the displacement vector of the curved reflector may involveproviding the measured illuminance values to a computing device, whichcarries out operations on those illuminances to determine the position.For example, a computing device may include thereon a model of the forcesensor, which includes a relationship between illuminance distributionand displacement vectors. The measured illuminances may represent samplemeasurements of an illuminance distribution (generally, the manner inwhich light is reflected back onto the photodetectors). Then, themeasured illuminances may be provided to the model, and a displacementvector (indicative of an estimated direction and magnitude ofdisplacement) may be provided as an output. This displacement output maythen be provided as an output to other computing devices, controlsystems, or serve as a basis for determining the vector of the forceapplied against the movable structure 510.

Based on the determined displacement vector (in this example, a vectorin the negative z-direction), a computing device or other processingdevice may determine the vector 502 of the negative z-direction forceapplied against the movable structure. A model of the force sensor maycorrelate displacement vectors with force vectors, such that providingthe estimated displacement vector to the model outputs a correspondingforce vector. This relationship between displacement and force may bepredetermined based on known properties of the spring element 430. Forexample, a constant force of a particular magnitude in the negativez-direction will cause the springs to compress until they reach a knownequilibrium length based on the spring constant of the spring element430.

The relationship between displacement and force may also be determinedbased on calibration data. For example, a calibration sequence mighttranslate the curved surface by a known distance in a known direction,and the force applied against a testing apparatus (resisting thetranslation) may be measured. Alternatively, a calibration sequencemight apply a force of a known direction and magnitude against themovable structure 410 and measure the illuminances at the photodetectors424A-D. Thus, in some implementations, the intermediate step ofexplicitly determining the displacement may be omitted, and the forcevector may be estimated or determined based solely on the illuminancemeasurements.

C. Sensor Subjected to a Lateral Force

FIGS. 6A, 6B, and 6C illustrate a side view 600, top-down view 650, anda perspective view 660 of a force sensor subjected to a lateral force,respectively. In this example, “lateral” refers to a net force in thenegative-y direction. However, “lateral” may refer to any force or forcecomponent along the x-axis and/or along the y-axis. For the followingexample, the net force is applied at the center of the positivex-direction edge of the movable structure 510, such that movablestructure 510 translates in the negative x-direction without rotating.

In this example, a force having a net force vector 602 is appliedagainst the movable structure 610, causing it (and the curved reflector612) to translate from its rest position 410 (as illustrated by thedotted lined rectangle). This force causes the spring element 430 toexpand from its rest length 440 to an expanded length. As a result, thex-directional distance between the curved reflector 412 and the lightemitter 422 is increased from zero to distance 642.

By moving the curved reflector in the negative x-direction by distance642, the illuminance distribution changes from distribution 426 todistribution 626. As a result, significantly less light is reflected offthe curved reflector 412 and incident on photodetector 424A, whilephotodetector 424B continues to be fully illuminated by light reflectedoff the curved reflector 412. Thus, the measured illuminance atphotodetector 424A may decrease to zero (or approximately zero), whilethe illuminance at photodetector 424B may remain the same (or possiblyincrease, depending on whether the curved reflector concentrates agreater portion of light onto the photodetector 424B). The remainingportion of light reflected off the curved reflector 412 may be incidenton (and partially or fully absorbed by) the base structure 420 and/orthe movable structure 610. Note that, although not depicted in FIG. 6A,the illuminances at photodetectors 424C and 424D may also be affected.

Based on the measured illuminance values by the photodetectors 424A-D,the position of the curved reflector 412—or, more specifically, thedisplacement vector representing the distance 642 in the negativex-direction—the position of the curved reflector 412 (or movablestructure 410, since they are rigidly coupled) relative to a referenceposition (e.g., the rest position of the curved reflector 412) may bedetermined. Additionally, based on the determined displacement vector(in this example, a vector in the negative z-direction), a computingdevice or other processing device may determine the vector 602 of thenegative x-direction force applied against the movable structure.

Note that, in the examples described above, the net force was applied ina direction that did not cause the movable structure to rotate. Putdifferently, the force was applied at an angle and direction that didnot produce a net torque, which could cause the movable structure torotate by some amount of angular displacement. The examples belowdescribe a force and torque sensor configuration capable of measuringboth forces and torques (e.g., force measurements in 6 DOFs).

IV. Example Force and Torque Sensors

A. Sensor at Rest

FIGS. 7A, 7B, and 7C illustrate a side view 700, top-down view 750, anda perspective view 760 of a force and torque sensor at rest,respectively. The force and torque sensor includes three curvedreflectors 712, 714, and 716 fixed to a movable structure 710, alongwith three optical sensor assemblies 722, 724, and 726 fixed to a basestructure 720. Each optical sensor assembly includes a photodetectorcluster and a light emitter.

The force and torque sensor may be similar to the force sensor describedabove. The movable structure 710 may be similar to or the same as themovable structure 410 described above. Each curved reflector 712, 714,and 716 may be similar to or the same as the curved reflector 412described above. The base structure 720 may be similar to or the same asthe base structure 420 described above. Each light emitter may besimilar to or the same as the light emitter 422 described above. Eachphotodetector in the photodetector clusters may be similar to or thesame as the photodetectors 424A-D described above. Although notillustrated in the following figures, the force and torque sensor mayalso include spring elements similar to the spring element 430 describedabove.

At rest, each curved reflector may be approximately aligned with arespective optical sensor assembly, similarly to the rest alignment ofcurved reflector 412 and the light emitter 422 described above.

Although not illustrated below, some forces applied against movablestructure 710 may cause the movable structure 710 to translate. Suchtranslational motion without any rotation causes each of the curvedreflectors 712, 714, and 716 to be displaced by the same amount in thesame direction. As a result, displacement and force may be determined ina similar manner as described above with respect to the force sensor. Insome implementations, determining that a force is applied against themovable structure 710 that does not produce a torque on the movablestructure 710 may involve determining the displacement for each of thecurved reflectors, and comparing those displacement vectors. If thedisplacement vectors for each of the curved reflectors is the same (orapproximately the same), then the sensor may output a torque value ofzero.

Note that a torque may be experienced at the movable structure 710 as aresult of one or more forces with components tangential to a rotationaxis, or may be experienced as a moment of force (e.g., a “pure” momentwith no net force component). Torque values may be relative to aparticular coordinate system, which can be defined in a variety of ways.For example, a coordinate system may be defined to have an originlocated at the centroid of three curved reflectors, where the z-axis isnormal to the surface of the movable structure 710, and the x-axis andy-axis are coplanar to the surface of the movable structure 710. In thisexample, the x-axis and y-axis can be oriented in a number of ways(i.e., rotated about the z-axis); for instance, if the x-axis and y-axisare rotated by 90 degrees, a force previously determined to be anx-directional force may now be considered a y-directional force. Thus,the direction of a force vector may be relative to a specific coordinatesystem.

A torque may cause the movable structure 710 to rotate about some axis.Since the coordinate system may be defined in a variety of ways, torquevalues may be defined relative to a specific coordinate system. Forexample, a torque might cause the movable structure 710 to pitch, roll,or some combination thereof, depending on the orientation of thespecific coordinate system. In one coordinate system, a force might beapplied through its origin and be aligned with an axis of thatcoordinate system; however, the same force in a different coordinatesystem may be applied at some distance from the origin and/or at someangle relative to an axis of the different coordinate system. Thus, a“pure force” that produces no torque in one coordinate system mayproduce a torque in another coordinate system. Accordingly, anydetermination of force or torque values may be relative to a specificcoordinate system.

Because displacement and force determinations for the force and torquesensor are similar to the displacement and force determinations for theforce sensor, that description is omitted below. However, it should beunderstood that the force and torque sensor may be used to determineforce vectors that do not induce a torque on the movable structure 710.

B. Subjected to a Downward Force

FIGS. 8A, 8B, and 8C illustrate a side view 800, top-down view 850, anda perspective view 860 of a force and torque sensor subjected to adownward force 802, respectively. In this example, the downward force802 is a negative z-directional force applied at the negativex-directional edge of the movable structure 810. The application offorce 802 against the movable structure 810 causes the movable structureto rotate about the y-axis (herein, “roll”). Thus, the movable structure810 is tilted with respect to the rest position 710.

As a result of the rotation, the curved reflector 812 is moved closer(in the z-direction) to the optical sensor assembly 722, the curvedreflector 814 is moved closer (in the z-direction) to the optical sensorassembly 724 by a lesser amount, and the curved reflector 816 is movedcloser to the optical sensor assembly 726 by an even lesser amount. Thisdifference in z-directional displacement is illustrated in FIG. 8B,wherein the footprint for curved reflector 812 has the largest radiusand the footprint for curved reflector 816 has a smallest radius(compared to the footprints for the curved reflectors 812, 814, and816).

The rotated movable structure 810 affects the illuminance distributionsmeasured at each optical sensor assembly differently, since thez-directional displacement for each of the curved reflectors 812, 814,and 816 is different. In some embodiments, the displacement vectors (orthe spatial locations with respect to respective reference positions)for each of the curved reflectors 812, 814, and 816 is determined basedon the respective illuminance distributions. Based on those displacementvectors, the extent of rotation (e.g., the angular displacement) of themovable structure 810 can be determined.

As described herein, the angular displacement of a movable structure mayrepresent a rotational orientation of the movable structure with respectto a reference orientation. The reference orientation may be an angularposition of the movable structure while the movable structure is atrest. The rotational orientation of the movable structure may be anangular position of the movable structure when subjected to a force. Theangular displacement may be represented as having a magnitude and adirection. The direction may specify the axis about which the movablestructure is rotated, while the magnitude may specify the rotation ofthe movable structure (e.g., in radians or degrees) about that axis.

Based on the displacement vectors for the curved reflectors 812, 814,and 816 (or the estimated angular displacement), the torque resultingfrom the force applied against the movable structure can be determined.In some implementations, the torque vector may not be explicitlydetermined, and instead the force vector and the location at which it isapplied against the movable structure 810 may be determined. The forceand torque sensor may output the force vector and its applied location,from which a separate processing device may determine the torque vector.

In other implementations, the torque vector may be determined based on arelationship between the sets of displacement vectors of the curvedreflectors and torque vectors. Alternatively, the torque vector may bedetermined based on a relationship between angular displacement valuesand torque vectors. Regardless of the implementation, a model orcalibration data may be used to estimate or determine force vectorsand/or torque vectors based on a set of measured illuminancedistributions, a set of displacement vectors, and/or an angulardisplacement value.

FIGS. 9A, 9B, and 9C illustrate a side view 900, top-down view 950, anda perspective view 960 of a force and torque sensor subjected to adownward force 902, respectively. In this example, the downward force902 is a negative z-directional force applied at the negativey-directional edge of the movable structure 910. The application offorce 902 against the movable structure 910 causes the movable structureto rotate about the x-axis (herein, “pitch”).

Similarly to the example described above, a pitched movable structure910 may non-uniformly change the illuminance distributions for theoptical sensor assemblies 722, 724, and 726 due to non-uniformdisplacements of reflectors 912, 914, and 916. Sets of displacementvectors, angular displacement values, force vectors, and/or torquevectors may be determined in a similar manner as described above.

The downward force 902 is illustrated in FIG. 9B as a circle with an “X”through its center. As illustrated in the figures, a circle with an “X”represents an “into the page” direction; in FIG. 9B, this is thenegative z-direction. Also, as illustrated in the figures, a circle witha dot in its center represents an “out of the page” direction; althoughnot depicted in FIG. 9B, this would be the positive z-direction.

C. Subjected to a Lateral Force

FIGS. 10A, 10B, and 10C illustrate a side view 1000, top-down view 1050,and a perspective view 1060 of a force and torque sensor subjected to alateral force 1002, respectively. In this example, the lateral force1002 is applied against the edge of the movable structure 1010, suchthat is causes the movable structure 1010 to rotate about the z-axis(herein, “yaw”). Thus, the movable structure 1010 is turned with respectto the rest position 710.

As a result of the rotation, the curved reflector 1012 is moved in thenegative x-direction and the positive y-direction, the curved reflector1014 is moved in the positive x-direction and the negative y-direction,and the curved reflector 1016 is moved in the negative x-direction andthe negative y-direction. Collectively the curved reflectors 1012, 1014,and 1016 rotate about their centroid in a clockwise fashion when viewedfrom the top-down (as illustrated in FIG. 10B).

Because each of the curved reflectors 1012, 1014, and 1016 translate bydifferent amounts in different directions, the illuminance distributionsmeasured by the optical sensor assemblies 722, 724, and 726 will eachdiffer from each other. From these illuminance distributions, thedisplacements for each of the curved reflectors 1012, 1014, and 1016,the angular displacement (e.g., angle of yaw), and the vector of thetorque experienced by the movable structure 1010 may be determined.

Note that, due to manufacturing variations and other sources ofimperfection, the illuminances measured by each optical sensor assemblymay differ from each other, even if the reflectors are in the sameposition with respect to their corresponding emitter and receivercluster. Such manufacturing imperfections may be accounted for duringcalibration.

V. Position Sensing

The sensor configurations, component arrangements, and sensingtechniques disclosed herein may be used to implement a displacementsensor. In some applications, determining the displacement vector of acurved reflector may be used to provide for sensitive displacementmeasurements. For example, a controller (e.g., a joystick) may measuresmall changes in displacement, which may serve as an input into acomputer program or game. It should be understood that techniques andconfigurations disclosed herein may be used to implement a positionsensor that may or may not also measure forces and torques.

Some sensors described herein may be configured to measure and outputdisplacement in one or more degrees of freedom (DOFs). Some displacementDOFs may be translational displacements (i.e., change in translationalposition) while other displacement DOFs may be angular displacements(i.e., change in orientation or angular position). In someimplementations, a sensor may be configured to measure one or moretranslational displacement DOFs and one or more angular displacementDOFs (e.g., x-directional displacement, z-directional displacement, androll, as one example). Any combination of translational DOFs and angularDOFs may be measured, depending on the number and arrangementphotodetectors, light emitters, and curved reflectors within aparticular force and torque sensor.

Likewise, some sensors described herein may be configured to measure andoutput forces in one or more degrees of freedom (DOFs). Some force DOFsmay be translational forces (e.g., x-direction, y-direction,z-direction) while other force DOFs may be rotation-inducing torques(e.g., yaw, pitch, roll). As described herein, a force DOF may be eithera force or q torque. Thus, a sensor configured to measure forces in oneor more DOFs may measure forces, torques, or some combination thereof.

A sensor with a single curved reflector may be operable to measuredisplacements and/or forces in three DOFs—that is, any combination ofx-direction, y-direction, z-direction, roll, pitch, and yaw. Some sensorapplications may involve measuring displacements and/or forces in aparticular set of DOFs, such that a 6-DOF sensor is not required. If theparticular DOFs are known, a particular sensor's components may bearranged to measure displacements and/or forces in those particularDOFs. In this manner, the number of components used to implement aspecific-application sensor may be reduced. In some cases, ignoring oneor more DOFs may also serve to improve the accuracy of the measuredDOFs.

VI. Calibration of Force and Torque Sensors

A particular force and torque sensor may be modeled in various ways. Asone example, the dimensions, layout of components, orientation ofcomponents, and properties of the components of a force and torquesensor may provide for geometric and mathematical relationships thatenable a processing device to infer some properties (e.g., forcevectors) on the basis of other measurements (e.g., illuminances measuredby photodetectors). For instance, if the layout of the components isknown, the reflective properties and geometry of the curved reflector isknown, and the illuminance exitance of the light emitter is known, thenmeasured illuminances may be applied to the model to infer the locationof the curved reflector with respect to a reference position. Further,if the dimensions and properties of a spring element (e.g., a flexure)is known, then displacement vectors may be correlated with forcevectors.

However, due to imperfections in manufacturing and potential errors inmodelling, such a model may not accurately reflect displacement and/orforce vectors for a given illuminance distribution of a specific forceand torque sensor. For example, the light emitters and photodetectorsmay not be oriented perfectly due to variances in solder connections. Asanother example, the curved reflector may not be mounted perfectly, ormay contain imperfections that affect the reflectance of the curvedreflector. As yet another example, imperfections in spring elements maycause the curved reflector's equilibrium position to not be perfectlyaligned with the light emitter.

Thus, in some implementations, a constructed force and torque sensor maybe subjected to a series of forces and/or torques in a testingapparatus, and may be correlated with measured illuminances at thephotodetectors. The testing apparatus may apply known forces at knowndirections, and correlate those values with the measured illuminances ina table or other data storage element. Once the testing has beencompleted and calibration data has been collected, mathematical analysesmay be employed to derive a functions or relationships between sets ofmeasured illuminances, displacement vectors, force vectors, and/ortorque vectors.

In some implementations, a relationship between measured illuminancesand force vectors may be determined by performing a linear regression(or other regression) on the calibration data. In this manner, acontinuous (or semi-continuous) function or mapping between sets ofmeasured illuminances and force vectors may be derived. Regressionanalysis may be applied between any two parameters or sets of parametersin order to generate a relationship between those two parameters or setsof parameters.

In some implementations, the calibration data may serve as a basis forcalculating transformation matrices for determining force vectors fromdisplacement vectors and/or for determining torque vectors from rotationvectors.

In some implementations, an additional photodetector may be includedwithin a force and torque sensor that measures the luminance (i.e., theluminance exitance) of the light emitter. As the light emitter ages, thebrightness of the light emitter may decrease. As a result, the accuracyof a force and torque sensor may worsen over time. The additionalphotodetector (which may also be referred to herein as the “calibration”or “reference” photodetector) may be situated at a location within theforce and torque sensor that measures the same illuminance regardless ofthe of the position of the curved reflector and the movable structure.Thus, the calibration photodetector may measure an illuminance that isindicative of the brightness of the photodetector.

In some implementations, the calibration photodetector may measure anilluminance during operation that represents the brightness of the lightemitter (herein, the “calibration illuminance”). The calibrationilluminance may be compared against a reference illuminance in order todetermine the extent to which the light emitter has decreased inbrightness over time. Based on this comparison, a scaling factor may bedetermined indicating an amount by which to adjust the magnitude ofdisplacement, force, and/or torque vectors to account for thedegradation of light emitter brightness. In some implementations, thescaling may be applied to the measured voltages at the photodetectors,while subsequent transformations are carried out based on the adjustedphotodetector voltages.

VII. Example Force Determination Methods

FIG. 11A is a flowchart of operations 1100 for determining a vector of aforce applied against a movable structure of a force sensor, accordingto an example implementation. Operations 1100 shown in FIG. 11A presentan implementation that could be used by computing devices or controlsystems. Operations 1100 may include one or more actions as illustratedby blocks 1102-1100. Although the blocks are illustrated in sequentialorder, these blocks may also be performed in parallel, and/or in adifferent order than those described herein. Also, the various blocksmay be combined into fewer blocks, divided into additional blocks,and/or removed based upon the directed implementation.

In addition, the operations 1100 and other operations disclosed hereinshow functionality of one possible implementation. In this regard, eachblock may represent a module, a segment, or a portion of program code,which includes one or more instructions executable by a processor orcomputing device for implementing specific logical operations or steps.The program code may be stored on any type of computer-readable medium,for example, such as a storage device included in a disk or hard drive.The computer-readable medium may include a non-transitorycomputer-readable medium, for example, such as computer-readable mediathat stores data for short periods of time like register memory,processor cache and/or random access memory (RAM). The computer-readablemedium may also include non-transitory media, such as secondary orpersistent long-term storage, like read-only memory (ROM), optical ormagnetic disks, and compact-disc read-only memory (CD-ROM), for example.The computer-readable media may be considered a computer-readablestorage medium, for example, or a tangible storage device.

In addition, one or more blocks in FIG. 11A may represent circuitry thatis wired to perform the specific logical operations.

In the following description, blocks 1102-1110 are performed by acontrol device. The control device may be any device or combination ofdevices that can operate components of a force and torque sensor, readmeasurements from sensing devices such as photodetectors, process themeasurements, and/or carry out mathematical, computational, orprogrammatic operations on data stored in memory or storage devices.Additionally, the control device may retrieve information, such asmodels or calibration data, stored in program instructions, memory, or astorage device, and may use that information as a basis for performingoperations on the measurements. It should be understood that the controldevice may take on many forms, and may include any number of processors,cache, memory devices, storage devices, integrated circuits, and/orother circuit components (e.g., application specific integratedcircuits, amplifiers, etc.).

A. Cause a Light Emitter to Project Light Toward a Curved Reflector

At block 1102, a control device causes a light emitter to project lighttoward a curved reflector fixed to a surface of a rigid structure when aforce is applied against the rigid structure. Causing the light emitterto project light may involve energizing the light emitter by coupling itto a power source. For example, if the light emitter is an LED, causingthe light emitter to project light might involve operating a switch(e.g., a transistor) to begin conducting current from a power source tothe terminals of the LED.

In some implementations, the light emitter may continuously projectduring operation, whether or not a force is applied against the rigidstructure. In other implementations, the light emitter may beginemitting when a force begins acting on the rigid structure. Forinstance, the force and torque sensor may include an accelerometer thatdetects changes in the position of the rigid structure. Upon detectingthis change, the control device may begin conducting current to thelight emitter, causing it to turn on.

B. Measure Illuminances of Light Incident on Photodetectors

At block 1104, a control device measures three or more illuminances oflight incident on respective three or more photodetectors. Thephotodetectors may convert incident light into a voltage, current, orcharge proportionate to the intensity of that incident light (that is,the illuminance). The control device may include thereon circuitcomponents for converting voltage, current, or charge levels intodigital values that it then stores in a local memory or cache. Forexample, the control device may include analog to digital converters(ADCs) that receive the analog output from the photodetectors andprovides to the processor of the control device digital valuesrepresenting the values of the photodetector output signals. The controldevice may store the measurements in memory (e.g., volatile memory or anonvolatile storage medium).

C. Determine a Displacement Vector Based on the Illuminances

At block 1106, a control device determines, based on the three or moreilluminances, a displacement vector that represents a change in positionof the curved reflector from a reference position. In someimplementations, the reference position may be predetermined and storedin the control device's memory or within program instructions. Thecontrol device may determine the position of curved reflector relativeto the reference position. Block 1106 may involve providing the measuredilluminances to a model or relationship derived from calibration data,as described above. The displacement vector may include a direction ofdisplacement and a distance of that displacement. The displacementvector may be a combination of displacement vector components in one ormore degrees of freedom (e.g., in the x-direction, y-direction, and/orz-direction).

D. Determine a Force Vector Based on the Displacement Vector

At block 1108, a control device determines, based on the displacementvector, a force vector representing a magnitude of the force and adirection of the force. As described above, determining the force vectorbased on the displacement vector may involve providing the displacementvector as an input to a model, relationship, or transformation matrix.

In some implementations, determining an angular displacement may involveobtaining a reference coordinate system that is indicative of anorientation of the rigid structure with no torque applied to the rigidstructure. The force and torque sensor may then determine a loadedcoordinate system, which represents the orientation of the rigidstructure when the rigid structure is experiencing a force appliedagainst it. The orientation of the rigid structure may be theorientation of a plane defined by the spatial positions of three or morecurved reflectors coupled to the rigid structure. Then, the controldevice may determine the angular displacement based on a comparisonbetween the reference coordinate system and the loaded coordinatesystem.

Note that, in some implementations, the control device may determine theforce vector based on the illuminance measurements, without carrying outthe intermediate step of determining the displacement vector. Forexample, calibration data may correlate a plurality of illuminancemeasurements with a respective plurality of force vectors. From thiscalibration data, a computing device (e.g., the control device) mayperform a regression analysis in order to derive a relationship betweenilluminance measurements and force vectors (e.g., linear regression).Then, the control device may provide the illuminance measurements asinputs to the relationship, which outputs a force vector.

E. Provide an Output Signal Indicative of the Force Vector

At block 1110, a control device provides an output signal indicative ofthe determined force vector. The force and torque sensor may beincorporated within a robotic system, such as a robotic arm orappendage. The force and torque sensor may measure force vectors and/ortorque vectors, which may then be provided as an output signal (e.g., anelectrical signal carrying digital data) to other devices of the system.For instance, the force and torque vector measurements may be providedto a control system of a robot, which may then modify aspects of therobot's behavior (e.g., adjust the grip strength of a robotic arm orrobotic finger) or otherwise operate actuators of the robot.

In other instances, the output signal may be provided to a dataacquisition system or other device that may record the force vectorsand/or torque vectors and store them in a memory device over a period oftime. The recorded measurements may be viewed on a display device or maybe processed by a computing device.

VIII. Example Torque Determination Methods

FIG. 11B is a flowchart of operations 1150 for determining a vector of aforce applied against a movable structure of a force sensor, accordingto an example implementation. Operations 1150 shown in FIG. 11 presentan implementation that could be used by computing devices or controlsystems. Operations 1100 may include one or more actions as illustratedby blocks 1152-1158. Although the blocks are illustrated in sequentialorder, these blocks may also be performed in parallel, and/or in adifferent order than those described herein. Also, the various blocksmay be combined into fewer blocks, divided into additional blocks,and/or removed based upon the directed implementation.

In addition, the operations 1150 and other operations disclosed hereinshow functionality of one possible implementation. In this regard, eachblock may represent a module, a segment, or a portion of program code,which includes one or more instructions executable by a processor orcomputing device for implementing specific logical operations or steps.The program code may be stored on any type of computer-readable medium,for example, such as a storage device included in a disk or hard drive.The computer-readable medium may include a non-transitorycomputer-readable medium, for example, such as computer-readable mediathat stores data for short periods of time like register memory,processor cache and/or random access memory (RAM). The computer-readablemedium may also include non-transitory media, such as secondary orpersistent long-term storage, like read-only memory (ROM), optical ormagnetic disks, and compact-disc read-only memory (CD-ROM), for example.The computer-readable media may be considered a computer-readablestorage medium, for example, or a tangible storage device.

In addition, one or more blocks in FIG. 11B may represent circuitry thatis wired to perform the specific logical operations.

In the following description, blocks 1152-1158 are performed by acontrol device. The control device may be any device or combination ofdevices that can operate components of a force and torque sensor, readmeasurements from sensing devices such as photodetectors, process themeasurements, and/or carry out mathematical, computational, orprogrammatic operations on data stored in memory or storage devices.Additionally, the control device may retrieve information, such asmodels or calibration data, stored in program instructions, memory, or astorage device, and may use that information as a basis for performingoperations on the measurements. It should be understood that the controldevice may take on many forms, and may include any number of processors,cache, memory devices, storage devices, integrated circuits, and/orother circuit components (e.g., application specific integratedcircuits, amplifiers, etc.).

The control device may be integrated within a force and torque sensorthat includes a rigid structure, a plurality of curved reflectors fixedto a surface of that rigid structure, a plurality of photodetectorclusters, and a plurality of light emitters. Each photodetector clustermay capture a set of illuminance measurements, collectively referred toas the “illuminance distribution.” The force and torque sensor may besimilarly configured to the force and torque sensor illustrated in FIGS.7A-7C.

A. Measure a Plurality of Illuminance Distributions

At block 1152, a control device measures, for each photodetector clusterof the plurality of photodetector clusters, an illuminance distributionacross the photodetectors in the photodetector cluster. Eachphotodetector cluster may contain three or more photodetectors, each ofwhich may measure an illuminance at an area defined by thephotosensitive region of that photodetector. Collectively, the set ofilluminance measurements captured by a photodetector cluster may bereferred to as an illuminance distribution.

B. Determine an Angular Displacement Based on the Measured IlluminanceDistributions

At block 1154, a control device determines, based on the measuredilluminance distributions, an angular displacement representing arotational orientation of the rigid structure with respect to areference orientation. The rigid structure may be in a referenceorientation when not subjected to an external force (or, when a forceapplied against the rigid structure does not cause the rigid structureto rotate). When the rigid structure is subjected a torque, it mayrotate, causing it to move to a rotational orientation (e.g., adifferent angular position compared to the reference orientation). Theangular displacement—including the axis about which the rigid structurerotates and the extent of rotation (e.g., in radians or degrees)—may bedetermined based on the reference orientation and the rotationalorientation.

The spatial locations of three or more curved reflectors may define aplane or a coordinate system, which may serve as a reference from whichthe angular displacement is determined. A reference plane or referencecoordinate system may be predetermined or stored on a memory of thecontrol device, representing the orientation of the rigid structure atrest. When the rigid structure is subjected to a torque that causes therigid structure to rotate, the curved reflectors may move from theirrest locations to different spatial locations. When the curvedreflectors are at these different spatial locations, a rotated plane orrotated coordinate system (also referred to herein as a “loaded”coordinate system) may be determined. By comparing the reference planeor reference coordinate system to the rotated plane or rotatedcoordinate system, the control system may determine the angulardisplacement of the rigid structure.

C. Determine a Torque Vector Based on the Angular Displacement

At block 1156, a control device determines, based on the angulardisplacement, a torque vector representing a magnitude of the torque anda direction of the torque. As described above, determining the torquevector based on the angular displacement may involve providing thedisplacement vector as an input to a model, relationship, ortransformation matrix.

Note that, in some implementations, the control device may determine thetorque vector based on the measured illuminance distributions, withoutcarrying out the intermediate step of determining the angulardisplacement of the rigid structure. For example, calibration data maycorrelate a plurality of illuminance distribution measurements with arespective plurality of torque vectors. From this calibration data, acomputing device (e.g., the control device) may perform a regressionanalysis in order to derive a relationship between illuminancemeasurements and force vectors (e.g., linear regression). Then, thecontrol device may provide the measured illuminance distributions asinputs to the relationship, which outputs a torque vector.

D. Provide an Output Signal Indicative of the Torque Vector

At block 1158, a control device provides an output signal indicative ofthe determined torque vector. The force and torque sensor may beincorporated within a robotic system, such as a robotic arm orappendage. The force and torque sensor may measure force vectors and/ortorque vectors, which may then be provided as an output signal (e.g., anelectrical signal carrying digital data) to other devices of the system.For instance, the force and torque vector measurements may be providedto a control system of a robot, which may then modify aspects of therobot's behavior (e.g., adjust the grip strength of a robotic arm orrobotic finger) or otherwise operate actuators of the robot.

In other instances, the output signal may be provided to a dataacquisition system or other device that may record the force vectorsand/or torque vectors and store them in a memory device over a period oftime. The recorded measurements may be viewed on a display device or maybe processed by a computing device.

IX. Example Computer-Readable Medium

FIG. 12 illustrates an example computer-readable medium configuredaccording to at least some implementations described herein. In exampleimplementations, the example system can include one or more processors,one or more forms of memory, one or more input devices/interfaces, oneor more output devices/interfaces, and machine readable instructionsthat when executed by the one or more processors cause a robotic deviceto carry out the various operations, tasks, capabilities, etc.,described above.

As noted above, the disclosed procedures can be implemented by computerprogram instructions encoded on a computer-readable storage medium in amachine-readable format, or on other media or articles of manufacture.FIG. 12 is a schematic illustrating a conceptual partial view of acomputer program product that includes a computer program for executinga computer process on a computing device, arranged according to at leastsome implementations disclosed herein.

In some implementations, the example computer program product 1200 mayinclude one or more program instructions 1202 that, when executed by oneor more processors may provide functionality or portions of thefunctionality described above with respect to FIGS. 1-11. In someexamples, the computer program product 1200 may include acomputer-readable medium 1204, such as, but not limited to, a hard diskdrive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape,memory, etc. In some implementations, the computer program product 1200may include a computer recordable medium 1206, such as, but not limitedto, memory, read/write (R/W) CDs, R/W DVDs, etc.

The one or more program instructions 1202 can be, for example, computerexecutable and/or logic implemented instructions. In some examples, acomputing device is configured to provide various operations, or actionsin response to the program instructions 1202 conveyed to the computingdevice by the computer readable medium 1204 and/or the computerrecordable medium 1206. In other examples, the computing device can bean external device in communication with a device coupled to the roboticdevice.

The computer readable medium 1204 can also be distributed among multipledata storage elements, which could be remotely located from each other.The computing device that executes some or all of the storedinstructions could be an external computer, or a mobile computingplatform, such as a smartphone, tablet device, personal computer, arobot, or a wearable device, among others. Alternatively, the computingdevice that executes some or all of the stored instructions could be aremotely located computer system, such as a server. For example, thecomputer program product 1200 can implement operations discussed inreference to FIGS. 1-11.

X. Conclusion

It should be understood that arrangements described herein are forpurposes of example only. As such, those skilled in the art willappreciate that other arrangements and other elements (e.g. machines,interfaces, operations, orders, and groupings of operations, etc.) canbe used instead, and some elements may be omitted altogether accordingto the desired results. Further, many of the elements that are describedare functional entities that may be implemented as discrete ordistributed components or in conjunction with other components, in anysuitable combination and location, or other structural elementsdescribed as independent structures may be combined.

While various aspects and implementations have been disclosed herein,other aspects and implementations will be apparent to those skilled inthe art. The various aspects and implementations disclosed herein arefor purposes of illustration and are not intended to be limiting, withthe true scope being indicated by the following claims, along with thefull scope of equivalents to which such claims are entitled. It is alsoto be understood that the terminology used herein is for the purpose ofdescribing particular implementations only, and is not intended to belimiting.

What is claimed is:
 1. A method, comprising: applying a predeterminedforce on at least one of a first rigid structure or a second rigidstructure, wherein the first rigid structure is elastically coupled tothe second rigid structure such that the first rigid structure is ableto move in at least three degrees of freedom relative to the secondrigid structure; measuring a distribution of light by a plurality ofphotodetectors coupled to the first rigid structure when thepredetermined force is applied, wherein the light is emitted from alight emitter coupled to the first rigid structure and reflected towardsthe plurality of photodetectors by a reflector coupled to the secondrigid structure; determining calibration data comprising (i) a forcevector based on the predetermined force and (ii) the measureddistribution of light caused by the predetermined force; measuring asecond distribution of light by the plurality of photodetectors when asecond force is applied on at least one of the first rigid structure orthe second rigid structure; determining, based on the seconddistribution of light measured and the calibration data, a second vectorof the second force; and providing an output signal indicative of thesecond vector.
 2. The method of claim 1, further comprising: calculatinga transformation matrix from the determined calibration data; anddetermining the second vector of the second force utilizing thecalculated transformation matrix.
 3. The method of claim 1, wherein thecalibration data further comprises a displacement vector of at least oneof the first rigid structure or the second rigid structure.
 4. Themethod of claim 3, further comprising: determining, based on the seconddistribution of light measured and the calibration data, a seconddisplacement vector of at least one of the first rigid structure or thesecond rigid structure.
 5. The method of claim 3, further comprising:calculating a transformation matrix from the determined calibrationdata; and determining a second displacement vector of at least one ofthe first rigid structure or the second rigid structure utilizing thecalculated transformation matrix.
 6. The method of claim 1, wherein thecalibration data further comprises a torque vector based on thepredetermined force.
 7. The method of claim 6, further comprising:determining, based on the second distribution of light measured and thecalibration data, a second torque vector based on the second force. 8.The method of claim 6, further comprising: calculating a transformationmatrix from the determined calibration data; and determining a secondtorque vector based on the second force utilizing the calculatedtransformation matrix.
 9. The method of claim 1, wherein the first rigidstructure is able to move in at least six degrees of freedom relative tothe second rigid structure.
 10. The method of claim 1, wherein the firststructure is elastically coupled to the second structure via a flexure,wherein the flexure has a predetermined spring constant, and furtherwherein the calibration data further comprises the predetermined springconstant.
 11. A method comprising: executing a calibration sequence,wherein the calibration sequence comprises: applying at least a firstpredetermined force on at least one of a first rigid structure or asecond rigid structure, wherein the first structure is elasticallycoupled to the second structure such that the first rigid structure isable to move in at least three degrees of freedom relative to the secondrigid structure; measuring at least a first distribution of light by aplurality of photodetectors coupled to the first rigid structure whenthe predetermined force is applied, wherein the light is emitted from alight emitter coupled to the first rigid structure and reflected towardsthe plurality of photodetectors by a reflector coupled to the secondrigid structure; and determining calibration data comprising (i) atleast a first force vector based on the first predetermined force, and(ii) the first measured distribution of light caused by the firstpredetermined force; executing a measurement sequence, wherein themeasurement sequence comprises: measuring another distribution of lightby the plurality of photodetectors when an unknown force is applied onat least one of the first rigid structure or the second rigid structure;and determining, based on the calibration data of the executedcalibration sequence and the measured other distribution of light, aforce vector of the unknown force; and providing an output signalindicative of the determined force vector.
 12. The method of claim 11,wherein the calibration sequence is repetitiously executed before theexecution of the measurement sequence.
 13. The method of claim 11,wherein the calibration sequence is repeated at least five times with atleast five predetermined forces such that the calibration data comprisesat least five fore vectors and five measured distributions of light. 14.The method of claim 11, wherein the calibration sequence is repeatedafter the execution of the measurement sequence.
 15. The method of claim11, wherein executing the calibration sequence further comprises:calculating a transformation matrix from the determined calibrationdata; and further wherein executing the measurement sequence comprises:determining the force vector of the unknown force utilizing thecalculated transformation matrix.
 16. The method of claim 11, whereinthe calibration data further comprises at least a first displacementvector of at least one of the first rigid structure or the second rigidstructure based on the first predetermined force.
 17. The method ofclaim 11, wherein the calibration data further comprises at least afirst torque vector based on the first predetermined force.
 18. Arobotic system comprising: a sensor comprising: a first rigid structurethat comprises a light emitter and a plurality of photodetectors; asecond rigid structure that is elastically coupled to the first rigidstructure such that the first rigid structure is able to move in atleast three degrees of freedom relative to the second rigid structure,wherein the second rigid structure comprises a reflector; and at leastone processor configured to perform operations comprising: measuring, bythe plurality of photodetectors, a distribution of light reflected bythe reflector from the light emitter towards the plurality ofphotodetectors when a predetermined force is applied on at least one ofthe first rigid structure or the second rigid structure; determiningcalibration data comprising (i) a force vector based on thepredetermined force, and (ii) the measured distribution of light causedby the predetermined force; measuring a second distribution of light bythe plurality of photodetectors when a second force is applied on atleast one of the first rigid structure or the second rigid structure;determining, based on the second distribution of light measured and thecalibration data, a second vector of the second force; and providing anoutput signal indicative of the second vector.
 19. The robotic system ofclaim 18, wherein the operations further comprise adjusting operation ofthe robotic system based on the output signal.
 20. The robotic system ofclaim 18, further comprising a robotic arm, wherein the operationsfurther comprise adjusting operation of the robotic arm based on theoutput signal.